WO2022243334A1

WO2022243334A1 - Mechanical connector

Info

Publication number: WO2022243334A1
Application number: PCT/EP2022/063352
Authority: WO
Inventors: Timothy John EVANS; Christophe Michel VAISSIERE
Original assignee: Jigsaw Structures Limited
Priority date: 2021-05-17
Filing date: 2022-05-17
Publication date: 2022-11-24
Also published as: GB2607567A; GB202107031D0; GB2607567B

Abstract

A hermaphroditic mechanical connector is disclosed. The connector comprises: a housing having a face defining a connection plane, the face having an aperture defined therein extending rearwardly from the connection plane into the housing in an axial direction. The aperture is radially surrounded by an internal wall, the internal wall comprising at least one locking arrangement comprising a recess or latch extending radially relative to the aperture. A body is slidably located in the aperture, the body has a complementary profile to the internal profile of the aperture and having an outer radial wall proximal to and parallel with the internal wall of the housing. The body comprises forward (first) and rearward (second) axially spaced apart complementary locking arrangements, comprising the other of a latch or recess. The connector is configurable in a female configuration and in a male configuration. In use, a male configured connector may be coupled to a female configured connector by aligning the connectors with the forward portion of the body of the male configured connector located within the aperture of the female configured connector and engaging the rearward complementary locking arrangement of the body of the male configured connector.

Description

MECHANICAL CONNECTOR

Field of Invention

The present invention relates to a hermaphroditic mechanical connector.

Background

Most mechanical connectors (which may also be referred to as a mechanical coupling) typically comprise a pair of dissimilar but complementary connectors with inter engagement features for transferring loads in use. Such connectors may generally be classed as "gendered" connectors as they have a specific male and female connector and one of each connector is required in order to make a successful coupling. Whilst many types of gendered mechanical connectors are in use, it will be appreciated that a limitation of such connectors is the need to either know which connections will be required in advance (such that one can ensure that the associated articles have respective male and female connectors) or to provide an additional specialised adaptor to allow connection if the articles have like connectors.

To overcome this limitation connectors may be provided in which a single type of connector may be coupled to another connector of the same type. Such connectors may be referred to as hermaphroditic, genderless, sexless, androgynous, or two-way connectors (or couplings). Hermaphroditic is used herein for consistency and is broadly intended to mean a connector which may include both male and female components or features and which is configured such that two like connectors can be coupled together in use. A well-known example of a hermaphroditic connector is, for example, the "handshake" or "Janney's" connector which is commonly used on rail cars. Known hermaphroditic connectors have a number of drawbacks or limitations. For example, they may be complex in both operation and to manufacture and may provide relatively heavy or bulky assemblies. Known connectors may also be unable to provide a rigid and reliable connection in all directions and rotations. Many existing hermaphroditic connectors are intended to merely provide a coupling for components or services (for example electrical connectors). The primary purpose of such connectors is generally in alignment and they may be inherently unsuitable for use as a mechanical connector as they are unable to provide sufficient load transfer across a coupling.

Accordingly, there is a desire for an improved hermaphroditic connector that may provide an arrangement which has a simple construction resulting in relatively low cost and simple assembly. There is also a desire to provide connector which is safe in operation and capable of providing one or more a close tolerance engagement, a structurally robust connection and/or a connection which is resistant to unwanted rotational, lateral, or linear disengagement. It is also desirable to provide a connection arrangement which is easily scalable or modifiable and for example can be easily modified to provide a range of connection contact configurations. Embodiments in accordance with aspects of the invention may address one of more of these needs.

Summary of Invention

An aspect of the invention provides a hermaphroditic mechanical connector, the connector comprising: a housing having a face defining a connection plane, the face having an aperture defined therein extending rearwardly from the connection plane into the housing in an axial direction, the aperture being radially surrounded by an internal wall, the internal wall comprising at least one locking arrangement comprising a recess or latch extending radially relative to the aperture; and a body slidably located in the aperture, the body having a complementary profile to the internal profile of the aperture and having an outer radial wall proximal to and parallel with the internal wall of the housing. The body comprises forward (first) and rearward (second) axially spaced apart complementary locking arrangements, comprising the other of a latch or recess (the complementary locking arrangements may be radially aligned and axially spaced apart from one another). The connector is configurable in a female configuration in which the body is axially retracted relative to the face, and the at least one locking arrangement of the internal wall is unobstructed. The connector is configurable in a male configuration in which the body is axially extended relative to the face, a forward portion of the body projects axially from the face, and wherein the rearward complementary locking arrangement of the body is aligned with the locking arrangement of the internal wall and the forward complementarycomplementary locking arrangement of the body is axially forward of the face on the forward portion of the body. In use, a male configured connector may be coupled to a female configured connector by aligning the connectors with the forward portion of the body of the male configured connector located within the aperture of the female configured connector and engaging the rearward complementarycomplementary locking arrangement of the body of the male configured connector with the at least one locking arrangement of its associated housing and the forward complementary locking arrangement of the body of the male configured connector with the at least one locking arrangement of the housing of the female configured connector.

The locking arrangement and complementary locking arrangement may selectively axially couple the body and the housing. The at least one locking arrangement and the forward and rearward complementary locking arrangements may comprise either: at least one latch and forward and rearward axially spaced apart recesses; or at least one recess and forward and rearward axially spaced apart latches. The latch(es) and recess(es) may be selectively engaged. The, or each, latch and recess may be radially orientated.

The, or each, latch may be being radially deployable between a first, retracted, position in which the latch does not extend beyond the internal wall of the aperture or the outer radial wall of the body and a second, extended position in which the latch projects beyond the internal wall or outer wall. The at least one locking arrangement comprises at least one recess extending radially away from the aperture; and the forward and rearward complementary locking arrangements comprise latches, each latch being radially deployable between a first, retracted, position in which the latch does not extend beyond the outer wall and a second, extended position in which the latch projects beyond the outer wall.

According to an aspect of the invention, there is provided a hermaphroditic mechanical connector, the connector comprising: a housing having a face defining a connection plane, the face having an aperture defined therein extending rearwardly from the connection plane into the housing in an axial direction, the aperture being radially surrounded by an internal wall, the internal wall including at least one recess extending radially away from the aperture. The connector further comprises a body slidably located in the aperture, the body having a complementary profile to the internal profile of the aperture and having an outer radial wall proximal to and parallel with the internal wall of the housing. The body comprises first and second latches, the latches being axially spaced apart from one another along the body, and each latch being radially deployable between a first, retracted, position in which the latch does not extend beyond the outer wall and a second, extended position in which the latch projects beyond the outer wall. The connector is configurable in a female configuration in which: the body is axially retracted relative to the face, and the at least one recess in the internal wall is unobstructed. The connector is configurable in a male configuration in which the body is axially extended relative to the face, a forward portion of the body projects axially from the face, and wherein the second latch is engaged in the at least one recess of the internal wall and the first latch is axially forward of the face on the forward portion of the body. In use, a male configured connector may be coupled to a female configured connector by aligning the connectors with the forward portion of the body of the male configured connector located within the aperture of the female configured connector and by the second latch of the male configured connector engaging the at least one recess of the female configured connector. In the engaged configuration the respective face of each housing may be brought into abutment (along the connection plane).

Advantageously, when a pair of connectors in accordance with an embodiment are connected together, they may provide good load transfer through the connection for example by effectively isolating different load paths through different parts of the connector. This may in effect provide a dedicated load path for different load types. For example, an axial load on the connector would be resisted by the latches and their respective recesses, a shear load is resisted by the body of the male configured member within the apertures, a bending load can be resisted by the abutting faces of the housing each connector along with differential shear between opposed latches and (to a lesser extent) the interface between the body and the surrounding walls. If the connector is required to resist relative rotational movement, then torque loads can also be resisted by the latches and/or by the interface between the body and the housing. Thus, it may be appreciated that a connector in accordance with embodiments of the invention can provide a connector which not only provides a robust are reliable connection, but which can also be readily verified and/or tailored for specific loading cases.

The internal wall of the aperture may include a forward (first) at least one recess and a rearward (second) at least one recess. The forward and rearward at least one recess may be axially spaced apart from one another along the wall (for example the first recess may be axially forward of the second recess relative to the connection plane). In the female configuration, the forward recess is unobstructed. In the female configuration one of the latch members may be engaged with the rearward recess. The forward at least one recess may be located a set axial distance from the face and the rearward at least one recess is located at twice the set axial distance from the face. It may be appreciated that an arrangement having forward and rearward axially spaced recesses can provide a connector which can be positively engaged into either its male position or its female position. For example, in the female configuration the forward latch may be engaged with the rearward at least one recess and in male configuration the rearward latch may be engaged with the forward at least one recess.

In alternate embodiments the body connector could be passively moved to its female configuration by a male configured connector being brought into engagement. In further alternative embodiments the body could be biased relative to the housing by a spring -for example when not latched in the one of the male or female configuration the connector could be biased so as to return the body and place the connector in to the other of the female or male configuration.

The connector may be further configurable in a neutral configuration in which the body is positioned substantially flush with the face. In the neutral configuration one of the forward or rearward latch is engaged in the at least one recess of the internal wall. Having such a positively selectable neutral position may for example be advantageous in allowing the connector of embodiments to have an "off" position in which the body of the connector is not protruding from the face and the face does not have a recess formed by the retraction of the body.

In some embodiments the, or each, at least one recess may be a continuous circumferential recess (for example a groove extending around the wall of the aperture). This may for example allow the latches to engage the recess regardless of the relative angular orientation of the connectors. In other embodiments the, or each, at least one recess may comprise a series of discontinuous or discrete recesses. For example, at least one recess may comprise a plurality of circumferentially distributed recesses. The circumferentially distributed recesses (which collectively form one at least one recess) may be axially aligned.

The forward and rearward latches may each comprise a plurality of circumferentially distributed latch members the latch members of each latch may have a common axial alignment. Thus, a latch member may be provided corresponding to each of the circumferentially distributed recesses of the at least one recess. The plurality of circumferentially distributed latch members may include at least one pair of radially opposed latch members (and the circumferentially distributed recesses may comprise at least one pair of corresponding radially opposed recesses). In some embodiments four (or more) latch members may be provided equidistantly positioned around the circumference of the body, for example the provision of four (or more) such latch members may provide good resistance to loading in all directions. If a connector is configured for uniaxial bending then a single pair of opposed latches may, for example, be sufficient. For a connector configured to resist bi-axial bending two pairs of opposed latches (with the respective pairs being perpendicular to one another) could be used.

In some embodiments it may be desirable to have a fixed rotational alignment between the connectors. Accordingly, the aperture and body may have a non-circular cross-sectional profile. The use of a non-circular cross-sectional profile may enable torsional loads to be transferred/resisted between the body and the aperture (as well as via circumferential shear in the latches). A non-circular cross-sectional profile may configure the body and aperture as a prismatic joint. In some embodiments the aperture and body may have substantially quadrilateral cross-sectional profiles.

A substantially quadrilateral cross-sectional profile may be a quadrilateral shape with additional features for example to provide locations for latch members. In some embodiments the aperture and body cross-sectional profiles may for example comprise one or more tabs. The tabs may, for example, project radially outwardly from the shape of the body. A tab may be provided for carrying a latch member. A tab may define at least one slot for a latch member. A tab may be provided at each corner of the quadrilateral profile of the body. Such an arrangement may provide a particularly stable connection arrangement. For example, the provision of a tab and latch at each corner of a quadrilateral body may provide good resistance to bending in all axes without sacrificing simplicity of the connector configuration. The body may further comprise a latch activation mechanism. A latch activation mechanism may be provided for each of the forward and rearward latches. The latch activation mechanism may be arranged to actuate a plurality of latch members. For example movement of the activation mechanism may deploy or retract the latch members simultaneously or sequentially. The, or each, latch activation mechanism may comprise a cam which actuates the latch between the first, retracted, position and the second, extended position.

The connector may further comprise at least one interface for forming a fluid, electrical, or optical connection. Fluid interfaces could include hydraulic power lines or fluid supply paths. Electrical interfaces could include power or data connections. Such an interface may be secondary to the mechanical coupling provided by the connector. The interface may be generally concentric relative to the mechanical connection. For example, it may be convenient to provide any such secondary interface at the centre of the mechanical connection such that it does not require a specific relative angular orientation between connectors. The interface may for example comprise a body-to-body or housing-to-housing contact surface. In some embodiments the interface may include a genderless connector of the type which are already available for fluid, optical or electric connections.

In a further aspect of the invention, there is provided a multi-faced connector comprising a three-dimensional housing having a plurality of faces each comprising a hermaphroditic mechanical connector in accordance with an embodiment. For example, the connector may be a polyhedral, for example a regular polyhedral, with n faces and comprises a hermaphroditic mechanical connector on up to n-1 faces. Thus, at least one face of the polyhedral may be free from a connector to accommodate structural and/or services to the connector. In particular a multifaced connector may be formed with a cube shaped housing which defines five connection planes each comprising a hermaphroditic mechanical connector in accordance with an embodiment. For example, a five-connector faced cubic arrangement could be used at an end node of a structural member. Likewise, a four-connector faced cubic arrangement may be useful in a mid-section of a linear structural member or at the corner of a structure such as a panel or other planar structural member. A three- connector faced cubic member could be used at the corner point of a three- dimensional structural member.

In a further aspect of the invention, there may be provided a robotic arm or structural member comprising a hermaphroditic mechanical connector or a multi-faced connector in accordance with an embodiment.

In another aspect of the invention, there may be provided a modular structure comprising a plurality of structural members each comprising a hermaphroditic mechanical connector or a multi-faced connector in accordance with an embodiment. Such a modular structure may for example be a self-configurable structure.

Unless otherwise stated, each of the integers described herein may be used in combination with any other integer as would be understood by the person skilled in the art. Further, although all aspects of the invention preferably "comprise" the features described in relation to that aspect, it is specifically envisaged that they may "consist" or "consist essentially" of those features outlined in the claims. In addition, all terms, unless specifically defined herein, are intended to be given their commonly understood meaning in the art.

Whilst the invention has been described above, it extends to any inventive combination of the features set out above or in the following description or drawings.

Description of the Drawings

Embodiments of the invention may be performed in various ways, and embodiments thereof will now be described by way of example only, reference being made to the accompanying drawings, in which:

Figure 1 shows an exploded three-dimensional view of a connector in accordance with an embodiment;

Figure 2A and 2B show front and rear perspective views of the connector of figure 1 in a female configuration; Figure 3A and 3B show front and rear perspective views of the connector of figure 1 in a male configuration;

Figure 4A to 4D show sequential stages of the connection of a pair of connectors in accordance with an embodiment;

Figure 5 shows a robotic arm or structural member including a multi-faced connector in accordance with an embodiment of the invention; and

Figure 6 shows an exploded three-dimensional view of a connector in accordance with another embodiment

Detail Description of Embodiments

It may be noted that forward and rearward (and related terms such as front, rear, forwardly and rearwardly) are used herein to conveniently refer to the connector and its typical in use orientation. It will be readily understood that forward (or front) generally refers to a surface, component or direction which is proximal to the connection interface of the connector. Likewise, rearward (or rear) refer to a surface, component or direction which is distal to the connection interface of the connector. However, it will be appreciated that such references are not intended to be limiting and that the device may sometimes take different orientation in use. The following description also uses the terms axial, radial and circumferential to provide relative directions in relation to axis of the connector (and these general directions are illustrated by arrows A, R and C on figure 1). It will be appreciated that the radial direction is generally parallel to the plane of the connection and the axial direction is generally perpendicular to the connection. Any references to circumferential, radial, or axial directions may be interpreted broadly as general geometric terms of orientation and, for example, do not exclude that a component may have a non circular or irregular form. Likewise the use of circumferential, radial, or axial does not (unless expressly stated otherwise) imply a precise geometric alignment.

Figures 1 to 3 show a hermaphroditic mechanical connector 1 in accordance with an embodiment. The connector 1 comprises a housing 10 and a body 30 which is slidably mounted in an aperture 20 of the housing 10. The body 30 includes a latch mechanism 40. As will be explained below the latch mechanism 40 engages the housing 10 in use to couple the body 30 to the housing 10.

The housing 10 has a front face 12 defining a connection plane P. The face 12 of the embodiment has a simple planarabutment surface, which is beneficial in not requiring any specific orientation between adjoining connectors. It will, however, be appreciated that in other embodiments the face could be provided with one or more alignment features (for example surface recesses or protrusions) that provide a complementary arrangement with a corresponding face. The aperture 20 in the housing 10 extends axially rearwardly from the face 12. The aperture of the illustrated embodiment is a through aperture but in some embodiments the aperture 20 may only partially extend through the housing 10 (and the housing may for example be part of another structure). The aperture 20 is radially surrounded by an internal wall 22. The aperture in the embodiment has a generally square cross-sectional profile comprising opposing parallel walls 23a and 23b and 23c and 23d. Additional tab features 24a, 24b, 24c and 24d are formed at each corner of the aperture. Each tab 24 has a generally rectangular profile which is radially aligned (having walls extending at 45^°away from the aperture). It will be appreciated that other profiles may be used for the aperture (and the selected profile may for example be selected depending upon features such as the desired simplicity of the connector and the loads that the connector is intended to bear in use).

The internal wall 22 includes a first forward sets of recesses 26 and a second rearward set of recesses 28 which each extend radially away from the aperture 20. The forward 26 and rearward sets 28 of recesses are axially spaced apart from one another along the wall 22. The front recess 26 is spaced from the face 12 by a first axial distance and the rear recess 28 is spaced from the face 12 by twice the axial distance of the forward recess. Each set of recesses 26, 28, comprise four discrete recesses at the corner tabs 24 of the aperture. The recesses of each set are axially aligned and equidistantly spaced around the circumference of the aperture 20.

The body 30 is surrounded an axially extending outer wall 32 which extends perpendicular to the front face 31 of the body. The body 30 has a cross-sectional profile matching the internal profile of the aperture 20. For example, the body 30 may be sized and shaped to have a close running clearance fit with the aperture 20 to allow sliding movement of the body 30 within the aperture 20 whilst maintaining a close alignment. In the illustrated embodiment, therefore, the body 30 has a generally square cross-sectional profile consisting of four straight sides 33a, 33b, 33c and 33d with tabs 35a, 35b, 35c and 35d projecting radially outwardly from each corner. The shoulder of each tab 35 extends at an angle of 135^° to the adjacent side 33 so that the opposing sides of the tab 35 are parallel to a radial line running through the corner of the square defined by the sides 33 of the body 30. The centre of the body 30 has an opening 37 which may provide space for a latch mechanism (as explained below) and may also be used for the passage of services (for exam pie fluid and/or electrical and/or optical lines). The tabs 35 each include a pair of parallel and axially spaced apart through slots 36, 36'. The slots 36, 36' extend radially through the body 30.

The rear face 13 of the housing 10 is provided with a mounting bracket 14 for supporting the body 30. The body 30 includes a complementary support member 38. A pair of spaced apart parallel support struts 39 extend axially rearwardly from the support member 38 and are received in apertures 15 in the mounting bracket 14. The interface between the support member 38 and mounting bracket 14 supports the body 30 within the housing 10 whilst enabling it to be slid axially. It may be appreciated that in embodiments in which the body is to be rotatable about its axis the pair of support struts 39 may be replace with a single strut. The support member 38 and mounting bracket 14 also delimit the maximum rearward movement of the body relative to the housing 10. An actuator (not shown) of any convenient form is provided for axially positioning the body 30 relative to the housing 10 and may, for example, act on the body via the struts 39. It will be appreciated that the mounting bracket and support member may not be required in some embodiments - for example any support features may be integrally formed in the housing and the range of motion of the body may be defined by abutment with the housing.

The body 30 further comprises first forward 40 and second rearward 41 latches. The latches 40 and 41 are axially spaced apart from one another along the body 30. The latches 40 and 41 have generally identical constructions such that only one will now be described in further detail but it will be appreciated that the description may be applied to either the front 40 or rear 41 latch. Each latch 40, 41 comprises four latch members 42a, 42b 42c and 42d each being in the form of a bolt which is slidably mounted within one of the through slots 36 of the body 30. Each latch member 42 is positioned in one of the slots 36 extending in through the tabs 35 of the body 30. As such, the latch members 42 of each latch extend through a corner of the square cross- section defined by the body 30 and are radially aligned and equidistant around the circumference of the body 30. The latch members 42 are radially deployable between a first, retracted, position in which the latch does not extend beyond the outer wall 32 of the body 30 and a second, extended position in which a radial end portion of the latch 42 projects radially outwardly beyond the outer wall 32.

The latch 40, 41 also includes a latch activation mechanism 45. It may be noted that in the embodiment both latches 40 and 41 are operated by a common activation mechanism 45 resulting in simultaneous operation of the latches. It will, however, be readily appreciated that in other embodiments a modified or separate activation mechanisms could be provided if independent operation or sequential operation of the latches is required. The activation mechanism 45 comprises a cam 46 rotatable via a spindle 47. Each of the latch members 42 are pivotally link arms 48a, 48b, 48c and 48d and the link arms are in turn pivotally connected to the cam body 46. As the latch members 42 are restrained to only linear sliding movement by their location in the slots 36 of the body 30, rotational movement of the cam 46 will result in radial linear movement of the link arms 48.

As shown from a front perspective in Figure 2A and a rear perspective in Figure 2B, the connector 1 is configurable as a female connector. In the female configuration the body 30 is axially retracted within the aperture 20 such that it is set back from the face 12. The forward latch 40 is aligned with (and may engage) with the rearward set of recesses 28 with each latch member 42 extending into its corresponding discrete recess. Thus, the body 30 may be axially locked in the rearward position. In the female configuration a forward portion of the internal wall 22 of the aperture 20 is uncovered by the body 30 and as such the forward set of recesses 26 are unobstructed.

As shown from a front perspective in Figure 3A and a rear perspective in Figure 3B, the connector 1 is also configurable as a male connector. In the male configuration the body 30 is axially advanced within the aperture 20 such that it extends partially beyond the face 12. The rearward latch 41 is aligned with (and may engage) the forward set of recesses 26 with each latch member 42 extending into its corresponding discrete recess. Thus, the body 30 may be axially locked in the forward position. In the male configuration a forward portion 32a of the outer wall 32 of the body is axially of the forward face 12 of the housing 10. The forward portion 32a carries the forward latch 40.

Operation of the connector will now be described with reference to Figures 4A to 4D which show sequential operation stages for coupling two identical connectors in accordance with the embodiment of figures 1 to 3.

As shown in Figure 4A, two connectors 1 and 1' are brought into proximity and are initially each in a neutral configuration (it may however, be appreciated, that this is for illustrative purposes only, highlighting the identical nature of the respective connectors, and the initial configuration of each connector is not essential when making a connection). In the neutral configuration the body 30 of each connector is neither retracted nor advanced relative to their housing 10. This enables the face 12 of the connector to present a substantially planar surface. The latch 40 of the connector may be engaged so that the forward latch 40 is engaging the forward recess 26 and the rearward latch 41 is engaging the rearward recess 28.

As shown in Figure 4B, the latches 40, 40' of each connector 1, 1' are retracted by rotation of the cam 46. The body 30 of the first connector 1 is then extended relative to its housing 10 to place the connector into its male configuration. The body 30' of the second connector 1' is retracted relative to its housing 10' to place the connector into its female configuration.

In figure 4C the connectors are aligned such that the forward portion 32a of the first connector 1 is positioned within the aperture 20' of the second connector 1'. The connectors are positioned such that the respective faces 12 and 12' of the housing 10, 10' of each connector 1, 1' are aligned and abutting. When the faces 12, 12' abut along the connection plane the body 30 of the male configured connector 1 is positioned across the connection plane defined by the faces.

The coupling may then be locked by deploying the latches 40 of the male configured connector 1 (using the cam 46 of the actuation mechanism), as shown in figure 4D. Thus, the rearward latch 41 engages the forward set of recesses 26 of its associated housing 10 whilst the forward latch 40 engages the forward set of recesses 26' of the housing 10' of the female configured connector 1', with each latch member 42 extending into its corresponding discrete recess. In the coupled configuration the interface between the latches 40, 41 and recesses 26, 26' prevent axial movement and provide a primary load transfer path for axial loads. The prismatic profile of the body 30 within the apertures 20, 20' prevents relative rotational movement of the connector joint and provides a primary load transfer path for torsional loads. The projection of the body 30 into the apertures prevents relative radial movement of the connector joint and provides a primary load transfer path for shear loads. The interface between the faces 12, 12' and body 30, 30' and differential shear across opposed latches 40, 41 prevent bending across the connector joint and provide a primary load transfer path for bending loads. The provision of dedicated/predictable load paths ensures that embodiments provide a robust coupling and can be readily tailored to any particular requirement for a mechanical connection.

It will be appreciated that the coupling of the connectors 1, 1' may be easily disconnected by simple reversal of the steps shown in Figures 4A to 4D.

Figure 5 shows a structural member 100 which may be part of a robotic arm or a modular construction (including, for example, a self-assembling robotic structure). The structural member 100 comprises a plurality of multi-faced connectors 110, 120, 130. Each multi-faced connector 110, 120, 130 comprises a cubic housing 112, 122, 132 having a plurality of faces. At least of the two faces on each housing are provided with a hermaphroditic mechanical connector 114, 124, 134 in accordance with embodiments of the invention. Actuators and/or controllers for the hermaphroditic mechanical connectors (which for example control the position of the body and the latches of the connector) may be provided within the interior of the housings. Such actuators/controllers may be powered internally or may receive power through a secondary service connection provided through at least one of the mechanical connectors.

Whilst other arrangements would be possible, the illustrated structural member includes a central multi-faced connector 110 which includes four hermaphroditic mechanical connector 114 (two of which are visible in the figure and two of which are on the reverse faces) and two end multi-faced connectors 120 and 130 which each include five hermaphroditic mechanical connectors 114 (two of which are visible on connector 120 three of which are visible on connector 130). The central multi-faced connector 110 includes outwardly extending telescopic arms 140, 150 which each project from opposing faces of the housing which do not include hermaphroditic mechanical connector. Each telescopic arm 140, 150 terminates in a robotic joint 142, 152 which are respectively connected to the face of one of the end multi-faced connectors 120 and 130 which does not include a hermaphroditic mechanical connector. The robotic joint 142, 152 may be configured to allow the end multi faced connectors 120 and 130 to be both rotated about the axis of the arm 140, 150 and pivoted about an axis perpendicular to the axis of the arm 140, 150. Thus, it will be appreciated that the robotic joint 142, 152 and telescopic arm 140, 150 allow the end connector 120, 130 to be precisely located and oriented relative to the reference point of the centre connector 110 or the connector at the opposite end of the member 100. It will be appreciated that a plurality of structural members of the general form shown in Figure 5 can provide a modular building system with a high degree of flexibility and which may even be configured to self-build or re-configure in use. The structural members used in such a modular system could have a range of different types (for example in some members the centre connector could be excluded, and the end members merely connected by a fixed or telescopic arm). Although the invention has been described above with reference to preferred embodiments, it will be appreciated that various changes or modification may be made without departing from the scope of the invention as defined in the appended claims. For example, Figure 6 shows an alternate embodiment of hermaphroditic mechanical connector 201 using a housing of reduced size and complexity. In this example it may be noted that the internal wall 222 includes only a single set of recesses 226. When this embodiment is in the female configuration the body 230 is axially retracted within the aperture 220 such that the recesses 226 are unobstructed. Optionally the latches 240 of the body may engage a rearward face of the housing 210 when in the rearward position. In the male configuration the body 230 is axially advanced within the aperture 220 such that it extends partially beyond the face 212. The rearward latch 241 is aligned with (and may engage) the recesses 226. The forward latch 240 is forward of the body and may enter the aperture 220 of a female configured latch and engage the recesses 226.

In a further example (not illustrated), a modified embodiment may use a circular aperture with continuous recesses and a corresponding circular body such that a connection can be provided which allows rotational movement between the connectors. In some embodiments the latches could be provided on the housing and deploy inwardly into the aperture to engage recesses provided on the body. Further, it may be noted that as the connector of the embodiment has a generally square profile (defined by the body and aperture) the connector can be coupled at 90^° relative rotations of the connectors - as such a greater range of angular alignments could be provided by the use of a higher order polygon shape.

In some embodiments it may be desirable to bias the configuration of the hermaphroditic mechanical connector to a particular position. For example, it will be appreciated that sprung latches can be used to provide a connector which is either sprung to a fail-safe holding or release depending upon the application. Likewise, the body can be biased to one of its positions for example to provide a connector which defaults to a neutral position or to enable the body to automatically assume its male or female configuration such that actuation is only required to move the connector to the non-biased position. It will be appreciated that such optional features will generally be dictated by the requirement of any specific application of the connector. Some embodiments may include at least one secondary connection for services which is automatically made as a result of the engagement of the couplings. For example conduits could terminate at the face of the body or housing and include a seal or sealing surface such that a connection is formed when a like conduit is aligned. To allow a connector to connect in a variety of orientations the secondary connection could be positioned extending through the centre of the connector (and it will be noted that such an arrangement could easily be accommodated via a hole in the cam 46 and a hollow shaft for the spindle 47. When such a secondary service connection is provided through contact between the body portions (30 and 30') it is likely to be convenient to provide an arrangement in which the body is positively locked into position and/or to include a resilient bias to the body such that a positive engagement is provided between the abutting faces of the opposed connectors in the connected configuration.

Claims

1. A hermaphroditic mechanical connector, the connector comprising: a housing having a face defining a connection plane, the face having an aperture defined therein extending rearwardly from the connection plane into the housing in an axial direction, the aperture being radially surrounded by an internal wall, the internal wall comprising at least one locking arrangement comprising a recess or latch extending radially relative to the aperture; and a body slidably located in the aperture, the body having a complementary profile to the internal profile of the aperture and having an outer radial wall proximal to and parallel with the internal wall of the housing; and wherein the body comprises forward and rearward axially spaced apart complementary locking arrangements, comprising the other of a latch or recess, wherein the connector is configurable in at least: a female configuration in which: the body is axially retracted relative to the face, and the at least one locking arrangement of the internal wall is unobstructed; and a male configuration in which: the body is axially extended relative to the face, a forward portion of the body projects axially from the face, and wherein the rearward complementary locking arrangement of the body is axially aligned with a locking arrangement of the internal wall and the forward complementary locking arrangement of the body is axially forward of the face on the forward portion of the body; such that, in use, a male configured connector may be coupled to a female configured connector by aligning the connectors with the forward portion of the body of the male configured connector located within the aperture of the female configured connector housing and engaging the rearward complementary locking arrangement of the male configured connector body with the at least one locking arrangement of its associated male connector housing and the forward complementary locking arrangement with the at least one locking arrangement of the housing of the female configured connector.

2. A hermaphroditic mechanical connector as claimed in claim 1, wherein the, or each, latch is radially deployable between a first, retracted, position in which the latch does not extend beyond the internal wall of the aperture or the outer radial wall of the body and a second, extended position in which the latch projects beyond the internal wall or outer wall.

3. A hermaphroditic mechanical connector as claimed in claim 1, wherein the at least one locking arrangement comprises at least one recess extending radially away from the aperture; and the forward and rearward complementary locking arrangements comprise latches, each latch being radially deployable between a first, retracted, position in which the latch does not extend beyond the outer wall and a second, extended position in which the latch projects beyond the outer wall.

4. The hermaphroditic mechanical connector of claim 3, wherein the internal wall of the housing including a forward at least one recess and a rearward at least one recess axially spaced apart along the wall; and wherein in the female configuration the forward recess is unobstructed and one of the latch members is engaged with the rearward recess.

5. The hermaphroditic mechanical connector of claim 4, wherein the forward at least one recess is located a set distance from the face and the rearward at least one recess is located at twice the set distance from the face.

6. The hermaphroditic mechanical connector of claim 4 or 5, wherein in the female configuration the forward latch is engaged with the rearward at least one recess.

7. The hermaphroditic mechanical connector of any preceding claim wherein the connector is further configurable in a neutral configuration in which the body is positioned substantially flush with the face, and wherein one of the forward or rearward complementary locking arrangements is engaged with the at least one locking arrangement.

8. The hermaphroditic mechanical connector of any preceding claim, wherein the, or each, at least one recess comprises a plurality of circumferentially distributed and axially aligned recesses.

9. The hermaphroditic mechanical connector of any preceding claim, wherein each of the latches comprise a plurality of circumferentially distributed and axially aligned latch members.

10. The hermaphroditic mechanical connector of any preceding claim, wherein the plurality of circumferentially distributed latch members comprise at least one pair of radially opposed latch members.

11. The hermaphroditic mechanical connector of any preceding claim, wherein the aperture and body have a non-circular cross-sectional profile.

12. The hermaphroditic mechanical connector of claim 9, wherein the aperture and body have substantially quadrilateral cross-sectional profiles.

13. The hermaphroditic mechanical connector of claim 10, wherein the aperture and body cross-sectional profiles comprise one or more tabs, each tab defining at least one slot for a latch member.

14. The hermaphroditic mechanical connector of claim 11, wherein a tab is provided at each corner of the quadrilateral profile of the body.

15. The hermaphroditic mechanical connector of any preceding claim wherein the body further comprises a latch activation mechanism, the latch activation mechanism comprises a cam which actuates the latch between the first, retracted, position and the second, extended position.

16. The hermaphroditic mechanical connector of claim 13, wherein the latch activation mechanism actuates a plurality of latch members simultaneously.

17. The hermaphroditic mechanical connector of any preceding claim, wherein the connector further comprises at least one interface for forming a fluid, electrical, or optical connection.

18. The hermaphroditic mechanical connector of claim 17, wherein the interface is concentric relative to the mechanical connection.

19. A multi-faced connector comprising a three-dimensional housing having a plurality of faces each comprising a hermaphroditic mechanical connector of any preceding claim.

20. A multi-faced connector as claimed in claim 19, wherein the connector is a regular polyhedral with n faces and comprises a hermaphroditic mechanical connector on up to n-1 faces.

21. A robotic arm or structural member comprising at least one hermaphroditic mechanical connector as claimed in any of claims 1 to 18 or a multi-faced connector as claimed in claim 19 or 20.

22. A modular structure comprising a plurality of structural members each comprising at least one hermaphroditic mechanical connector as claimed in any of claims 1 to 18 or a multi-faced connector as claimed in claim 19 or 20.